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Design and user evaluation of a wheelchair mounted robotic assisted transfer device.

Grindle GG, Wang H, Jeannis H, Teodorski E, Cooper RA - Biomed Res Int (2015)

Bottom Line: The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion.Thirteen out of sixteen (83%) participants agreed that it was important to develop this type of technology.Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.

View Article: PubMed Central - PubMed

Affiliation: Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, 6425 Penn Avenue, Suite 400, Pittsburgh, PA 15232, USA ; Department of Rehabilitation Science and Technology, University of Pittsburgh, 6425 Penn Avenue, Suite 400, Pittsburgh, PA 15232, USA.

ABSTRACT

Purpose: The aim of this study is to describe the robotic assisted transfer device (RATD) and an initial focus group evaluation by end users. The purpose of the device is to aid in the transfers of people with disabilities to and from their electric powered wheelchair (EPW) onto other surfaces. The device can be used for both stand-pivot transfers and fully dependent transfers, where the person being transferred is in a sling and weight is fully on the robot. The RATD is fixed to an EPW to allow for its use in community settings.

Method: A functional prototype of the RATD was designed and fabricated. The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion.

Results: Thirteen out of sixteen (83%) participants agreed that it was important to develop this type of technology. They also indicated that user, caregiver, and robotic controls were important features to be included in the device.

Conclusions: Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.

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A solid model showing RATD's axis of motion for the shoulder, proximal segment, and distal segment joints.
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Related In: Results  -  Collection


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fig2: A solid model showing RATD's axis of motion for the shoulder, proximal segment, and distal segment joints.

Mentions: The RATD's design allows for 5 powered degrees of freedom (DOF): two rotary joints, two prismatic joints, and track and carriage subsystem that allows the robot to translate around the seat frame of the wheelchair. When coupled to an EPW, the RATD has 7 overall DOFs. The design of the track and carriage is adapted from previous work on the PerMMA [21] robot and allows the RATD to be used on either side of the EPW seat, greatly increasing its workspace. It also allows the RATD to be stowed behind the seat without adding any width to the EPW when not in use. Proceeding from the carriage to the end effector, the first joint is the shoulder, which rotates internally toward the user or externally away from the user, which is shown in the left and center panel of Figure 3. The shoulder is connected to the proximal segment that contains a prismatic joint. This segment is along the axis of rotation of the shoulder and extends the robots workspace vertically. The proximal segment is connected to the distal segment by an elbow joint, as seen in Figure 2. The distal segment also contains a prismatic joint that allows the end effector to extend away from the elbow.


Design and user evaluation of a wheelchair mounted robotic assisted transfer device.

Grindle GG, Wang H, Jeannis H, Teodorski E, Cooper RA - Biomed Res Int (2015)

A solid model showing RATD's axis of motion for the shoulder, proximal segment, and distal segment joints.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4352417&req=5

fig2: A solid model showing RATD's axis of motion for the shoulder, proximal segment, and distal segment joints.
Mentions: The RATD's design allows for 5 powered degrees of freedom (DOF): two rotary joints, two prismatic joints, and track and carriage subsystem that allows the robot to translate around the seat frame of the wheelchair. When coupled to an EPW, the RATD has 7 overall DOFs. The design of the track and carriage is adapted from previous work on the PerMMA [21] robot and allows the RATD to be used on either side of the EPW seat, greatly increasing its workspace. It also allows the RATD to be stowed behind the seat without adding any width to the EPW when not in use. Proceeding from the carriage to the end effector, the first joint is the shoulder, which rotates internally toward the user or externally away from the user, which is shown in the left and center panel of Figure 3. The shoulder is connected to the proximal segment that contains a prismatic joint. This segment is along the axis of rotation of the shoulder and extends the robots workspace vertically. The proximal segment is connected to the distal segment by an elbow joint, as seen in Figure 2. The distal segment also contains a prismatic joint that allows the end effector to extend away from the elbow.

Bottom Line: The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion.Thirteen out of sixteen (83%) participants agreed that it was important to develop this type of technology.Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.

View Article: PubMed Central - PubMed

Affiliation: Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, 6425 Penn Avenue, Suite 400, Pittsburgh, PA 15232, USA ; Department of Rehabilitation Science and Technology, University of Pittsburgh, 6425 Penn Avenue, Suite 400, Pittsburgh, PA 15232, USA.

ABSTRACT

Purpose: The aim of this study is to describe the robotic assisted transfer device (RATD) and an initial focus group evaluation by end users. The purpose of the device is to aid in the transfers of people with disabilities to and from their electric powered wheelchair (EPW) onto other surfaces. The device can be used for both stand-pivot transfers and fully dependent transfers, where the person being transferred is in a sling and weight is fully on the robot. The RATD is fixed to an EPW to allow for its use in community settings.

Method: A functional prototype of the RATD was designed and fabricated. The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion.

Results: Thirteen out of sixteen (83%) participants agreed that it was important to develop this type of technology. They also indicated that user, caregiver, and robotic controls were important features to be included in the device.

Conclusions: Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.

Show MeSH